How to Build and Release your Docker Container

Install Docker

The system requirement for building Apollo is Ubuntu 14.04. Using a Docker container is the simplest way to set up the build environment for Apollo project. A Detailed docker tutorial can be found here.

To install docker, you may refer to Official guide to install the Docker-ce. Don't forget to test it using post-installation steps for Linux.

Build and Release

Start container

We provide a build image named dev-latest. The Container will mount your local apollo repo to /apollo.

bash docker/scripts/dev_start.sh

Get into the container

bash docker/scripts/dev_into.sh

Build modules

bash apollo.sh build

Note: If you do not have a GPU, you can use the following script instead

bash apollo.sh build_cpu

Note: If your computer is very slow, you can enter the following command to limit the CPU.

bash apollo.sh build --local_resources 2048,1.0,1.0

Release binaries

bash apollo.sh release

This command will generate a release directory, which contains the ROS environment, running scripts, binaries and dependent shared libraries (.so files).

To create a release excluding proprietary software (such as ESD CAN library), use:

bash apollo.sh release_noproprietary

In order to generate and push your images to your own docker repository, please refer to How to Generate and Push Docker images

Build in Visual Studio Code

Install VSCode

The easiest way to install for Debian/Ubuntu based distributions is to download from https://code.visualstudio.com and install the .deb package (64-bit) either through the graphical software center if it's available or through the command line with:

sudo dpkg -i <file>.deb
sudo apt-get install -f # Install dependencies

Start VSCode

Start VSCode with the following command: 

code

Open the Apollo project in VSCode

Use the keyboard shortcut (Ctrl+K Ctrl+O) to open the Apollo project.

Build the Apollo project in VSCode

Use the keyboard shortcut (Ctrl+Shift+B) to build the Apollo project.

Run all unit tests for the Apollo project in VSCode

Select the "Tasks->Run Tasks..." menu command and click "run all unit tests for the apollo project" from a popup menu to check the code style for the Apollo project.

If you are currently developing on 16.04, you will get a build error. As seen in the image below, 2 perception tests. To avoid this build error, refer to the how to build Apollo using Ubuntu 16.

Build error

Run a code style check task for the Apollo project in VSCode

Select the "Tasks->Run Tasks..." menu command and click "code style check for the apollo project" from a popup menu to check the code style for the Apollo project.

Clean the Apollo project in VSCode

Select the "Tasks->Run Tasks..." menu command and click "clean the apollo project" from a popup menu to clean the Apollo project.

Change the building option

You can change the "build" option to another one such as "build_gpu" (refer to the "apollo.sh" file for details) in ".vscode/tasks.json"

Test

bash docker/scripts/release_start.sh [release tag]

The HMI will automatically start and you can control each apollo module through any web browser by inputting IP address and port number, such as localhost:8887. You can get into the release container if quick fix needed.

bash docker/scripts/release_into.sh

The docker image that you build may contain ESD CAN library files provided by ESD Electronics (hereby referred as ESD), which you should have obtained via a licensing agreement with ESD. The licensing agreement shall have granted you (as an individual or a business entity) the right to use the said software provided by ESD; however, you may (and likely you do) need explicit re-distribution permission from ESD to publish the docker image for any other third party to consume. Such licensing agreement is solely between you and ESD, and is not covered by the license terms of the Apollo project (see file LICENSE under Apollo top directory).